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          infineon AURIX-TC3xx——mcmcan笔记
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<p>mcmcan视频笔记，视频来源：<a target="_blank" rel="noopener" href="https://videos.infineon-autoeco.com/pc/page/detail/1429">https://videos.infineon-autoeco.com/pc/page/detail/1429</a></p>
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<h3 id="CAN-History"><a href="#CAN-History" class="headerlink" title="CAN History"></a>CAN History</h3><ul>
<li>Bosch Can V2.0 （1991）<ul>
<li>2.0A；”Standard CAN” with 11 bit message ID</li>
<li>2.0B；”extended CAN” with 29 bit message ID</li>
</ul>
</li>
<li>接受为 ISO11898-1 标准（2003）<ul>
<li>ISO11898-1：数据链路层标准</li>
<li>ISO11898-2: 物理层标准（收发器）</li>
</ul>
</li>
<li>TTCAN（2000） 时间触发的CAN传输（预先定义好了CAN的收发时间）</li>
<li>CAN FD(2012)<ul>
<li>2014 年正式被划入ISO11898-1</li>
</ul>
</li>
<li>“no ISO CAN FD”（博世标准）和 ISO CAN FD<ul>
<li>CRC域不同，ISO11898-1::2015 中体现</li>
</ul>
</li>
</ul>
<h3 id="infineon-CAN"><a href="#infineon-CAN" class="headerlink" title="infineon CAN"></a>infineon CAN</h3><p><img src="/2023/07/24/AURIX-tc3xx-mcmcan/infineon-can.jpg">)</p>
<p>MCMCAN：new can module for Aurix2G<br>each MEMCAN unit contains:</p>
<ul>
<li>包含 4 个 node</li>
<li>支持debug over can</li>
<li>支持最多16个中断（分配了16个SRN，该模块上的所有Node共享这16个中断）</li>
<li>支持接收filter，以列表的形式存放在message ram中</li>
<li>支持 range filter</li>
<li>支持 发送历史列表，包含发送数据的时间戳，ID</li>
<li>支持 loop back 模式</li>
<li>同一个MEMCAN上的 can node共享一个可配置的 Message Ram</li>
<li>接收处理：rx handler，对接收遍历filter，后存放到rx fifo</li>
<li>发送处理：tx handler，将MSG ram中数据发送出去，具有比较功能，发送优先级最高的can frame</li>
</ul>
<p>MCMCAN Overview:</p>
<ul>
<li>Interrupt Compression Unit：将中断信号压缩成16个</li>
<li>clock Control and memory control (全局控制——影响该module上的所有node)</li>
<li>message ram：节点共享的ram</li>
<li>BPI：访问保护</li>
<li>can的复位也是全局控制，影响该module上的所有node<br><img src="/2023/07/24/AURIX-tc3xx-mcmcan/memcan.jpg"></li>
</ul>
<h4 id="MEMCAN-message-ram"><a href="#MEMCAN-message-ram" class="headerlink" title="MEMCAN:message ram"></a>MEMCAN:message ram</h4><h4 id="MEMCAN：Clock"><a href="#MEMCAN：Clock" class="headerlink" title="MEMCAN：Clock"></a>MEMCAN：Clock</h4><p>模块时钟开&#x2F;关通过CLC寄存器控制<br>时钟选择通过MCR.CLKSEL控制</p>
<ul>
<li>模块内部控制使用的时钟fsyn(最大100M)：driven by f_mcanh</li>
<li>生成波特率的时钟fasyn：seletct from<ul>
<li>fmcan：the peripheral clock(20,40,80M)</li>
<li>fosco: the oscillator input clock</li>
</ul>
</li>
</ul>
<h4 id="MEMCAN：Port"><a href="#MEMCAN：Port" class="headerlink" title="MEMCAN：Port"></a>MEMCAN：Port</h4><h4 id="MEMCAN：interrupt"><a href="#MEMCAN：interrupt" class="headerlink" title="MEMCAN：interrupt"></a>MEMCAN：interrupt</h4><h4 id="MEMCAN：Node"><a href="#MEMCAN：Node" class="headerlink" title="MEMCAN：Node"></a>MEMCAN：Node</h4><p>can node M_CAN overview:</p>
<ul>
<li>can core (11898-1)</li>
<li>时钟和同步控制单元</li>
<li>CAN协议相关配置（bit时序，错误计数等）</li>
<li>中断压缩和使能单元</li>
<li>对 message ram进行配置和分割</li>
<li>Tx Handler:<ul>
<li>控制数据从 message ram传输到 CAN core上</li>
<li>消息优先级</li>
<li>取消传输</li>
</ul>
</li>
<li>Rx Handler：<ul>
<li>控制数据从 can core传输到message ram中</li>
<li>将接收数据保存在不同ram区域中。</li>
<li>保存额外信息（如时间戳）</li>
</ul>
</li>
</ul>
<p><img src="/2023/07/24/AURIX-tc3xx-mcmcan/can-core.png"></p>
<p><strong>Node Bit Timing</strong></p>
<ul>
<li>the data bit rate（CAN FD，仲裁域使用下面的nominal bit rate，数据域使用 data bit rate）<ul>
<li>ISO 要求的每一位时间为 5-25 Tq</li>
<li>Tq &#x3D; (1+DBRP)&#x2F;f_can</li>
<li>bit timing &#x3D; (1+(DTSEG1+1) + (DTSEG2+1))*Tq  (DBTP寄存器中配置)</li>
</ul>
</li>
<li>the nominal bit rate<ul>
<li>ISO 要求每一位时间为 8-80Tq</li>
<li>Tq &#x3D; (1+NBRP)&#x2F;f_can</li>
<li>bit timing &#x3D; (1+(NTSEG1+1) + (NTSEG2+1))*Tq  (NBTP寄存器中配置)</li>
</ul>
</li>
</ul>
<p><strong>传输延迟补偿：</strong><br>can中一个位的传输可以分为三个阶段:Tsync，Tseg1 以及 Tseg2。一般采样点会在Tseg1 和 Tseg2 之间：<br><img src="/2023/07/24/AURIX-tc3xx-mcmcan/transmitter-delay-compensation1.jpg"></p>
<p>CAN在传输数据时，会同时监听总线上的数据，以判断是否一致。这里的发送和接收数据之间存在一定延迟，因此需要进行补偿（否则可能导致采样点错误）：</p>
<ul>
<li>硬件上会自动对第一个下降沿的延迟进行补偿</li>
<li>可以通过寄存器TDCR.TDCO 叠加额外的补偿<br><img src="/2023/07/24/AURIX-tc3xx-mcmcan/transmitter-delay-compensation2.jpg"></li>
</ul>
<p><strong>Tx Handler</strong>：</p>
<ul>
<li>发送 tx buffer中的数据 （message ram ——&gt; can core）</li>
<li>每个 can node 支持最大32个 tx buffer</li>
<li>硬件自动处理 putindex&#x2F;getindex (FIFO&#x2F;QUEUE mode)</li>
<li>控制发送优先级</li>
<li>可以取消发送</li>
<li>三种发送模式<ul>
<li>dedicated mode:<ul>
<li>专用 tx buffer，用于在CPU的完全控制下进行消息传输。</li>
<li>数据更新后，需要设置TXBARi.ARx进行发送</li>
</ul>
</li>
<li>fifo mode:（按软件写入顺序发送）<ul>
<li>can core实际发送从TXFQSi.TFGI(getindex)指向的element开始</li>
<li>软件写入数据从TXFQSi.TFQPI(putindex)指向的element开始</li>
<li>要发送的element需要设置TXBARi.ARx中的对应位（根据putindex获得）</li>
</ul>
</li>
<li>queue mode：（内部发送按ID小的先发送）<ul>
<li>can core发送时根据ID优先级发送（越小优先级越高，优先级相同则buffer number小的优先级高）</li>
<li>软件写入数据从TXFQSi.TFQPI(putindex)指向的element开始</li>
<li>要发送的element需要设置TXBARi.ARx中的对应位（根据putindex获得）</li>
<li>tx buffer在message ram 中的布局如下图：data size 由 TXES.TBDS 设置<br><img src="/2023/07/24/AURIX-tc3xx-mcmcan/tx-buffer-element.png"></li>
</ul>
</li>
</ul>
</li>
</ul>
<p><strong>发送优先级</strong>：</p>
<ul>
<li>dedicated tx buffer：id 最小的先发送</li>
<li>tx fifo：先进来的先发送</li>
<li>tx queue: id最小的先发送</li>
<li>dedicated tx buffer + tx fifo: dedicated txbuffer中的所有element和fifo中最旧的element，它们中id 最小的先发送</li>
<li>dedicated tx buffer + tx queue：所有element中id最小的先发送</li>
</ul>
<p><strong>Rx Handler</strong>：</p>
<ul>
<li>每个 can node具有 RxFIFO0, RxFIFO1, dedicated rxbuffer</li>
<li>每个 can node支持 2 个filter sets: for 11&#x2F;29 bit ID (filter指明是否接收数据，以及接收数据放在哪里——fifo0&#x2F;1 or dedicated rxbuffer)</li>
<li>putindex 由硬件接收数据后自动更新</li>
<li>getindex 需要软件在提取数据后，设置RXF0Ai&#x2F;RXF1Ai中的FOAI</li>
</ul>
<p>数据在 message ram中布局：<br><img src="/2023/07/24/AURIX-tc3xx-mcmcan/rx-buffer-element.jpg"></p>
<p>Rx Filtering:</p>
<ul>
<li>每个can node支持 2 个过滤集合（for 11位id&#x2F;29位id）</li>
<li>11bit id帧，可以配置最多128个 filter</li>
<li>29bit id帧，可以配置最多64个 filter</li>
<li>每个can node还有一个 global filter register：<ul>
<li>没有匹配的 can frame是否接收</li>
<li>接收&#x2F;拒绝 11&#x2F;29 位的 remote frame</li>
</ul>
</li>
<li>支持range 匹配，SFID1&#x2F;SFID2任意一个匹配过滤，mask+id的匹配</li>
<li>过滤处理流程：<br><img src="/2023/07/24/AURIX-tc3xx-mcmcan/filter-handing-flow.png"></li>
</ul>

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